/*
 * LaserSensor.h
 *
 *  Created on: Nov 6, 2010
 *      Author: bipins
 */

#ifndef LASERSENSOR_H_
#define LASERSENSOR_H_

#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>


typedef sensor_msgs::LaserScan::ConstPtr SensorMessages;

class LaserSensor	{
private:
	ros::Subscriber s;
	SensorMessages sensorReadings;

public:
	LaserSensor(ros::NodeHandle n);
	SensorMessages scan();

	void laserScanCallback(const SensorMessages &msg);
};

#endif /* LASERSENSOR_H_ */
